控制基于局部稳定性变化的合规接头的平脚极限循环步行器
Yan Huang1,2,3, Yue Gao4,5, Qiang Huang1,2,3
1School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
Biological cybernetics
|April 19, 2024
概括
这项研究通过分析脚硬度和脚结构来增强双脚机器人的稳定性. 一种新的控制策略可以减少能源消耗,同时保持对干扰的排斥,使步行更顺.
科学领域:
- 机器人和生物力学
- 控制系统工程 控制系统工程
背景情况:
- 极限循环步行在双脚是机器人运动的关键.
- 了解当地的稳定力学是改善步行表现的关键.
- 平脚和符合脚在双脚设计中很常见.
研究的目的:
- 调查四环极限循环行走双脚的局部稳定性.
- 分析脚硬度和足部结构对稳定性的影响.
- 制定和应用控制策略,以提高稳定性和效率.
主要方法:
- 利用波恩卡尔的部分来分析沿轨道的局部稳定性.
- 模拟了不同脚硬度和足部设计的影响.
- 实施了针对当地稳定性较差的阶段的控制战略.
主要成果:
- 确定了特定的脚硬度和足部结构,可以改善局部稳定性.
- 通过有针对性的控制来证明能耗降低.
- 保持或改进了干扰排斥能力.
结论:
- 局部稳定性分析为双脚行走动态提供了关键的见解.
- 优化的脚和脚的参数增强了机器人的稳定性.
- 基于稳定性分析的有针对性的控制为双脚机器人提供了一种高效的方法.
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